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At least 289 records · Page 16

Detecting water hazards for autonomous off-road navigation

Detecting water hazards for autonomous, off-road navigation of unmanned ground vehicles is a largely unexplored problem. In this paper, we catalog environmental variables that affect the difficulty of this problem, including day vs. night operation, whether the water reflects sky or other terrain features, the size of the water body, and other factors. We briefly survey sensors that are applicable to detecting water hazards in each of these conditions. We then present analyses and results for water detection for four specific sensor cases: 1) using color image classification to recognize sky reflections in water during the day, 2) using ladar to detect the presence of water bodies and to measure their depth, 3) using short-wave infrared (SWIR) imagery to detect water bodies, as well as snow and ice, and 4) using mid-wave infrared (MWIR) imagery to recognize water bodies at night. For color imagery, we demonstrate solid results with a classifier that runs at nearly video rate on a 433 MHz processor. For ladar, we present a detailed propagation analysis that shows the limits of water body detection and depth estimation as a function of look ahead distance, water depth, and ladar wavelength. For SWIR and MWIR, we present sample imagery from a variety of data collections that illustrate the potential of these sensors. These results demonstrate significant progress on this problem.

McHenry, Mike↗

Twisted bilayer graphene. I. Matrix elements, approximations, perturbation theory, and a k · p two-band model

We investigate the twisted bilayer graphene (TBG) model of Bistritzer and MacDonald (BM) [Bistritzer and MacDonald, Proc. Natl. Acad. Sci. 108, 12233 (2011)] to obtain an analytic understanding of its energetics and wave functions needed for many-body calculations. We provide an approximation scheme for the wave functions of the BM model, which first elucidates why the BM K M -point centered original calculation containing only four plane waves provides a good analytical value for the first magic angle (θ M ≈ 1°). The approximation scheme also elucidates why most of the many-body matrix elements in the Coulomb Hamiltonian projected to the active bands can be neglected. By applying our approximation scheme at the first magic angle to a Γ M -point centered model of six plane waves, we analytically understand the reason for the small Γ M -point gap between the active and passive bands in the isotropic limit w 0 = w 1 . Furthermore, we analytically calculate the group velocities of the passive bands in the isotropic limit, and show that they are almost doubly degenerate, even away from the Γ M point, where no symmetry forces them to be. Furthermore, moving away from the Γ M and K M points, we provide an explicit analytical perturbative understanding as to why the TBG bands are flat at the first magic angle, despite the first magic angle is defined by only requiring a vanishing K M -point Dirac velocity. We derive analytically a connected “magic manifold” w 1 = $2\sqrt{1 + w^{2}_{0}}$ $-\sqrt{2 + 3w^2_0}$, on which the bands remain extremely flat as w 0 is tuned between the isotropic (w 0 = w 1 ) and chiral (w 0 = 0) limits. We analytically show why going away from the isotropic limit by making w 0 less (but not larger) than w 1 increases the Γ M -point gap between the active and the passive bands. Finally, by perturbation theory, we provide an analytic Γ M point k ∙ p two-band model that reproduces the TBG band structure and eigenstates within a certain w 0 , w 1 parameter range. Further refinement of this model are discussed, which suggest a possible faithful representation of the TBG bands by a two-band Γ M point k ∙ p model in the full w 0 , w 1 parameter range.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

Application of a numerically generated orthogonal coordinate system to the solution of inviscid axisymmetric supersonic flow over blunt bodies

A numerically generated orthogonal coordinate system (with the body surface and shock wave as opposite boundaries) was applied with a time asymptotic method to obtain steady flow solutions for axisymmetric inviscid flow over several blunt bodies including spheres, paraboloids, ellipsoids, hyperboloids, hemisphere cylinders, spherically blunted cones, and a body with a concavity in the stagnation region. Comparisons with experimental data and with the results of other computational methods are discussed. The numerically generated orthogonal coordinate system is described and applications of the method to complex body shapes, particularly those with concave regions, are discussed.

Hamilton, H. H., II↗

Hypersonic Flight and the Re-Entry Problem: The Twenty-First Wright Brothers Lecture

Up to this point the discussion of the problems of rocket vehicles has been confined to the effects of phenomena which have in the past been important ones for lower speed aircraft and will continue to be important for aircraft of all speeds. Now with considerable extension of both speed and altitude, other phenomena also become important. The nature of some problems will be altered, as a result, and new problems, of course, will be encountered. First, it is well to note that our interest in bluff bodies for ballistic vehicles in particular, and in rounded-nosed bodies generally, has changed our emphasis in aerodynamics. The detached bow waves which occur with such bodies at high supersonic speeds complicate the calculations of the flow-field characteristics. In the present period, much attention is being given to such studies. In addition, at the very high altitudes attained by most of the rocket-craft, the mean free path of air molecules can be of the same order, or long, compared to the dimensions of the vehicles. Thus, slip-flow and free-molecule-flow studies are of interest, particularly for satellite vehicles." The aerodynatnicist must deal with air having unfamiliar states and properties. Second, at hypersonic speeds where, for example, air is greatly decelerated, it may undergo considerable change in composition, the degree of change depending upon many factors. Dissociation of oxygen and nitrogen molecules can occur and, in addition, thermal ionization of many of the constituents. It is naturally to be expected that the convective heat transfer will, as a result, be altered from what it was for the "perfect" gas, and this has been the subject of much recent research effort. Moreover, the decelerated gas becomes capable of radiating energy and the radiative heat transfer must generally be considered for hypersonic vehicles, particularly for long-range ballistic rockets. It is not only the aerodynamic heating problems that are affected. The fact that at very high air temperature the gas becomes electrically conductive introduces new problems in radio wave transmission and reception. In addition, a conducting gas flow can, of course, be influenced by a magnetic field. The study of such flows, which has been termed "magneto gas dynamics," is still in too primitive a state to indicate how important a role it can play, but many interesting possibilities suggest themselves. Third, our experience with airplanes powered by air-breathing engines has naturally been restricted to the stratosphere, or lower. Our ignorance increases with altitude. For rockets, literally, "the sky's the limit," and it is not surprising that a great emphasis has now been placed on obtaining a more thorough understanding of the whole atmosphere. These studies are not aimed at an understanding of the chemical and physical characteristics alone, but also of the occurrence of high-energy particles, from meteors to cosmic rays, and the nature of the problems they will promote.

Wright Brother↗

Rossby wave activity in a two-dimensional model - Closure for wave driving and meridional eddy diffusivity

A parameterization of the effects of Rossby waves in the middle atmosphere is proposed for use in two-dimensional models. By adding an equation for conservation of Rossby wave activity, closure is obtained for the meridional eddy fluxes and body force due to Rossby waves. Rossby wave activity is produced in a climatological fashion at the tropopause, is advected by a group velocity which is determined solely by model zonal winds, and is absorbed where it converges. Absorption of Rossby wave activity causes both an easterly torque and an irreversible mixing of potential vorticity, represented by the meridional eddy diffusivity, K(yy). The distribution of Rossby wave driving determines the distribution of K(yy), which is applied to all of the chemical constituents. This provides a self-consistent coupling of the wave activity with the winds, tracer distributions and the radiative field. Typical winter stratospheric values for K(yy) of 2 million sq m/sec are obtained. Poleward tracer advection is enhanced and meridional tracer gradients are reduced where Rossby wave activity is absorbed in the model.

Hitchman, Matthew H.↗

Application of Dorodnitsyn's Integral Method to Nonequilibrium Flows over Pointed Bodies

Dorodnitsyn's integral method is used to obtain an approximate solution to the supersonic nonequilibrium flow over pointed bodies with attached shock waves. The partial differential equations governing the flow are converted to an approximate set of ordinary equations, which are solved by numerical integration starting at the body tip. Detailed analytical and numerical results for the first approximation are presented, considering the vibrational relaxation of a diatomic gas over a wedge or cone. It is shown that the first approximation yields: (1) The exact flow-variable gradients at the wedge tip (2) Expressions for the flow-variable gradients at the cone tip which are in agreement with extrapolations of characteristics calculations (3) A good approximate algebraic solution for frozen or equilibrium conical flow (4) An approximate expression for the nonequilibrium-flow stream function which affords a means of obtaining variations across the shock layer of the temperature and vibrational energy. Numerical results for both the wedge and cone compare favorably with identical cases computed by the method of characteristics.

NONEQUILIBRIUM FLOW↗

Shock diffraction computations over complex structures

This work contains the results of a study aimed at the development of two- and three-dimensional numerical procedures for computing the flowfield generated by the interaction of a blast wave and a rigid body. A number of numerical procedures were applied to two-dimensional problems including both implicit and explicit algorithms. Each was tried on the blast wave-cylinder interaction problem. MacCormack's (1969) method with added fourth-order dissipation yielded the best results and was then applied to the blast wave-truck interaction problems in two dimensions. MacCormack's method was also used in three dimensions to determine the flowfield that results when a blast wave strikes a rectangular parallelepiped at an arbitrary angle. Both the twoand three-dimensional computations were compared with experiments in a number of ways. Two dimensional density contours show qualitative agreement for shock front location and Mach stem formation with spark shadowgraphs taken in a shock tube. Pressure-time histories indicate good quantitative agreement between theory and experiment both in two- and three-dimensions.

Mark, A.↗

Gaze Stabilization During Locomotion Requires Full Body Coordination

Maintaining gaze stabilization during locomotion places substantial demands on multiple sensorimotor subsystems for precise coordination. Gaze stabilization during locomotion requires eye-head-trunk coordination (Bloomberg, et al., 1997) as well as the regulation of energy flow or shock-wave transmission through the body at high impact phases with the support surface (McDonald, et al., 1997). Allowing these excessive transmissions of energy to reach the head may compromise gaze stability. Impairments in these mechanisms may lead to the oscillopsia and decreased dynamic visual acuity seen in crewmembers returning from short and long duration spaceflight, as well as in patients with vestibular disorders (Hillman, et al., 1999). Thus, we hypothesize that stabilized gaze during locomotion results from full-body coordination of the eye-head-trunk system combined with the lower limb apparatus. The goal of this study was to determine how multiple, interdependent full- body sensorimotor subsystems aiding gaze stabilization during locomotion are functionally coordinated, and how they adaptively respond to spaceffight.

Mulavara, A. P.↗

On the structure of Alfven shocks.

Alfven shocks for flow of highly conducting incompressible fluid over blunt body where magnetic and flow vectors are not aligned

INCOMPRESSIBLE FLUID↗

Turnstile slot antenna

A turnstile slot antenna is disclosed, the antenna being for and integral with a spacecraft having a substantially cylindrical body portion. The antenna comprises a circumferential slot about the periphery of the spacecraft body portion with an annular wave guide cavity defining a radial transmission line disposed within the spacecraft body portion behind and in communication with the circumferential slot. Feed stubs and associated transmission apparatus are provided to excite the annular cavity in quadrature phase such that an omnidirectional, circularly polarized, rotating radiation pattern is generated. The antenna of the instant invention has utility both as a transmitting and receiving device, and ensures continuous telemetry and command coverage with the spacecraft.

Munson, R. E.↗

Green's Function Applicable to Turbofan Exhaust Noise in Jets with an External Center-Body

The problem of propagation of sound across the shear layer in a turbofan jet exhaust with an external center-body is discussed. The wave equation of interest is compressible Rayleigh equation. Two forms of the equation are considered, and the Green's function solutions subject to appropriate surface conditions on the center-body and flight condition in the ambient are presented. Directivity studied in a heated exhaust at temperature ratio of 2.0 and Mach number 0.90 indicate that a rigid center-body tends to increase the sound propagation at forward angles relative to an exhaust without a center-body, while application of suitable surface liner may significantly reduce this enhancement. A general form of the far-field solution to the propagation equation in a parallel flow under supersonic conditions and in the neighborhood of the shear layer singularity is also discussed.

Noise↗

Green's Function Applicable to Turbofan Exhaust Noise in Jets with an External Center-Body

The problem of propagation of sound across the shear layer in a turbofan jet exhaust with an external center-body is discussed. The wave equation of interest is the compressible Rayleigh equation. Two forms of the equation are considered, and the Green's function solutions, subject to appropriate surface conditions on the center-body and flight condition in the ambient, are presented. Directivity studies in a heated exhaust at temperature ratio of 2.0 and Mach number 0.90 indicate that a rigid center-body tends to increase the sound propagation at forward angles relative to an exhaust without a center-body, while application of suitable surface liner may significantly reduce this enhancement.

Noise↗

Wave energy conversion incorporating actuated geometry

Described herein are wave energy conversion systems including actuated geometry components. An example system may include at least one body portion configured to transfer wave energy to a power take off device, and at least one actuated geometry component that is connected to the at least one body portion, the at least one actuated geometry component operable to modify a geometric profile of the system.

16 TIDAL AND WAVE POWER↗